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Add mj_markStack and mj_freeStack as public API functions.

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Also add asan instrumentation to detect stack frame leakages (i.e. `mj_markStack` without a corresponding `mj_freeStack` in the same caller function).

PiperOrigin-RevId: 562625645
Change-Id: I4e3ff66ca0b9d08ed0a95cef45393db8e3053e22
This commit is contained in:
Saran Tunyasuvunakool
2023-09-04 17:03:23 -07:00
committed by Copybara-Service
parent 9308e1d383
commit 94a8705ad0
17 changed files with 311 additions and 45 deletions
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doc/changelog.rst
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@@ -43,6 +43,8 @@ General
functionality of allocating ``mjtNum`` arrays is still available through the new function :ref:`mj_stackAllocNum`.
#. Renamed the ``nstack`` field in :ref:`mjModel` and :ref:`mjData` to ``narena``. Changed ``narena``, ``pstack``, and
``maxuse_stack`` to count number of bytes rather than number of :ref:`mjtNum` |-| s.
#. Added new functions ``mj_markStack`` and ``mj_freeStack`` that manages ``mjData`` stack frames in a fully
encapsulated way (i.e. without having to introduce a local variable at the call site).
Python bindings
^^^^^^^^^^^^^^^